DROFLY PRO V3 User Guide
Contents
1. DROFLY PRO V3 User Guide io a CPL E CERO CEP E RELL ELLE LE LETETT EEEH a P ba lm a ml Flg BF Sn ie ie ea Pawn a ae aia Fa lt Te mg pad i WA told KER TE ANER bli ESE giria gi lg pin eT os Ea i 7 ie bm Lt HELLERE N he ee Table Of Contents 1 INTRODUCTION 1 1 Presentation 1 2 Changes 2 HARDWARE SETUP 2 1 Setup on your frame 2 2 Connecting Flight Controller a To BEC b To Receiver c To Motors 2 3 Enable LiPo 3 SOFTWARE SETUP 3 1 Getting started with Arduino Software a Download b Install 3 2 Getting started with the Multiwii Code a Download b Install 3 3 Multiwii code setup config h file a Number of motors b Flight Controller Selection 3 4 Uploading Multiwii code into Flight Controller 3 5 Using Multiwii GUI 3 6 SD card 4 ADDICTIONAL MODULES 4 1 GPS HMC 4 2 Bluetooth www DroTek fr INTRODUCTION 1 1 Presentation MultiWii is an open source program s original author is a French program Alex after severals years of joint efforts of many enthusiasts and now this board has become increasingly mature has become very popular abroad cost effective flight control one That multi axis aircraft MWC fans can easily access the high cost of this product through the MWC program to control the hardware platform can achieve a variety of multi spindle high quality flight results f2. Alarms R parerencodage amp recharger Rx Sensors Serial Moniteur s rie Ctrl Maj M Pee e eee eae ee aes b Cee TTT TTT TTT Te Type de carte Pa eC Ce iiia a a ri 7 PaO RC ee Port FLE COML KET TTT aa Programmateur d 7 GFS using a r P i if enabled Graver la s quence d initialisation and the UART speed note only the EX PIN is used in case of NMEA mode the GFS is not configured in NMEA mode the GPS must be configured to output GG and EMC NMEA sentences 1 at least 5Hz update rate uncomment the first line to select the GPS serial po define GPS SFRTAT 2 off shold he F far Flarhiinn tre Tries the serial nart minher Now click on the upload button This will compile and upload the code into the flight controller You can see compilation progress bar at the bottom right of the Arduino window Compiling sketch Once compilation complete the code will be automatically uploaded into the flight controller The red and green LEDs on the flight controller will blink rapidly until Done uploading message appears at the bottom left of the window Your board is updated 3 5 Using Multiwii GUI MultiWii code comes with a GUI Graphical User Interface which helps the user to setup sensors recognition accelerometer compass calibration PIDs rx channels MULTIMILCOM SETTINGS wii AUXI AUX2 AUX3 AUX4 multiwii com 0 P l D RATE TPA LOW MID HIGH L M H L M H S M H vo ROLL 0 0 0 000 0 0 00 PITCH
3. order to edit and upload the Multiwii Code as you want a Download Latest Arduino software version is available here http arduino cc en Main Software Select and download the latest version available for your computer operating system then extract the zipfile b Install Open the extracted folder and Open Arduino program arduino exe for Windows users This window will be displayed ns sketch mar20a Arduino software is now installed and ready to use on your computer www DrotTek fr 3 2 Getting started with the Multiwii Code This section will explain how to tune MultiWii code to fit your flying model a Download Please download the latest version of the MultiWii code available on this page http fernitronix fr component attachments download 24 The downloaded file should be named as follow MultiWii2 3_DroflyProV3 zip b Install Extract it in a dedicated folder 2 subfolders will be created MultiWii contains the code to be uploaded onto the flight controller MultiWiiConf contains the user interface to be used once MultiWii code uploaded onto the flight controller Then move Multiwii in Documents Arduino libraries es F arduino 1 0 1 a Organiser lg Ouvrir Inclure dans la bibliotheque Rechercher dans arduino 1Q1 Era i Partager avec Graver 49 Favoris FE Bureau E Dropbox S Emplacements r cet E4 Emp m
4. used for get a feedback of data during the flight mainly You can plug a Bluetooth module on this port You can easily config your PID with the Android application available here https play google com store apps details id com ezio multiwii hl fr www DrotTek fr
5. 0 00 SAVE LOAD 0 0 0 000 0 COM COM7 Yaw 00 0 000 0 0 00 PORT COM ALT 00 0000 O COM1 20s 0 00 0 0 20sR 0 0 0 00 0 000 NavR 0 0 0 00 0 000 LEVEL 0 0 0 000 0 MAG 0 0 MID 050 tHROT re aS EXPO 0 00 oe CH RATE 1 00 PITCH ROLL EXPO 0 00 READ RESET CALIB_MAG CALIB_ACC WRITE SELECT SETTING 0 COM7 CLOSE COMM ACC BARO MAG GPS SONAR OPTIC Power 0 pAlarm 0 Volt 0 000 ACC ROLL 141 PITCHE 141 Z 8 GYRO ROLL PITCH Yaw ROLL PITCH Hog Yaw ALT 0 56 HEAD MM 172 START STOP Cycle Time 2696 12C error 0 Sensors dist home 0 debua 0 _ debug 0 debua 0 _ Download and informations https code google com p multiwii downloads list 3 6 SD card DroflyProV3 used a SD card as datalogger This is an option and you can fly without the card or without the fonction activated During the flight the card memorize Differents warnings level battery 12c failsafe Flight data time in flight time of operating number of starts GPS coordinates of the UAV at regular intervals This allows after a flying session to analyze flight data and trace the path of such drone on Google Earth After all you need to download the follow library http fernitroniz fr documents DroflyProv3 sdfatlib20131225 zip Move it in the Arduino library folder You should be have it now sketch mar0Ba Arduino 1 05 Fichier Edition Croquis Outils Aide Ctrl M Ctrl 0 Nouveau Ouv
6. 1114 Fy net 7 Bese DroFly Pro a iS PS i yi SC Salat NE PIAM AMAMMA pen PT biol am e aad i ul E A F alll Anyway you can easily identify flight controller orientation using GUI 2 2 Connecting Flight Controller a To BEC Flight controller must be powered by ESC BEC 5V or by UBEC 5V on connector n 2 3 5 6 7 8 9 10 like below www DrotTek fr b To Receiver Here are 3 ways to connect your receiver to the flight controller depending of your harware Classic Receiver Each port of the receiver is connected to the flight controller You can connect up to 8 channels PPM Receiver You need to enable PPM receiver functionality in config h file Uncomment this lines define SERIAL SUM_PPM define PPM_ON_THROTTLE Your Throttle is now your signal Spektrum Satellite For a Spektrum Satellite you must uncomment the line define SERIAL SUM_PPM The configuration you have in fonction of your transmitter uncomment line define SPEKTRUM 1024 if you re using DSM2 or define SPEKTRUM 2048 if you re using DSMX Then connect the Spektrum satellite to the dedicated port of the flight controller like below Spektrum satellite requires 3 3V on VCC The solder bridge need to be activated as below O_O O_O x O_O O O _ O_O _ O_O O_O _90_90_90_90_0_90 ROLL 55 THRO Sem O O O O O 0 i ETT BEEN i 1338 www DroTek fr c To ESC M
7. 83L integrated The code is simplified to allow to be understood by everyone Make sure you ve uncomment these lines in config h www DrotTek fr define GPS SERIAL z vy should be for flyduino ve It s the serial port number on arduino MEGA ff detine GPS PROMINI SERIAL ff Will Autosenge if GPS is connected when ardu boots 72 avoid using 115200 baud because with 1L6MHe arduino the 115200 haudrate have more than 25 speed error 57600 have 0 8 error define GPS BAUD 57600 GPS protocol MEA Standard NMEA protocol GGA GSA and EMC sentences are needed UBLOX U Blox binary protocol use the ublox config file u blox config ublox tet from the source tree NTE_BINARY16 and MTE_BINA RY1S NTEs329 chipset based GPS with DI Drones binary firmware vl 6 or v1 9 With UBLOX and MTE_BINARY you don t have to use GPS_FILTERING in multiwii code define NMEA define UBLOX ff define MTK_BINARY16 ff define MTK_BINARY19 f detine INIT MTE GFS vf initialize MTE GPS for using selected speed S5Hz update rate and GGA RMC sentence or binary settings define GPS_SERIAL 2 Defines the serial port number of the GPS define GPS_BAUD 57600 Defines the speed of GPS define UBLOX Defines your GPS Ublox with the kit Drofly Pro V3 GPS The GPS baud must be equal to the Drofly config Otherwise it dosen t work 4 2 Bluetooth Drofly Pro V3 can receive a Bluetooth module as previous version Bluetooth connection is
8. GPS Drotek DroFlyFro Vs with MPU6050 and M55561BBA UBLO GPS and HNC5883L integrated The MultiWii code is now ready to be uploaded into your flight controller Please note this user manual describes only the basics of MutliWii code Additional parameters rx type gimbal parameters etc can be fine tuned in the config h file Please refer to the MultiWu FAQ for more details http www multiwii com faq 3 4 Uploading Multiwii code into Flight Controller In order to compile and upload the code into the flight controller you need to select The type of board In Arduino program Tools gt gt Board gt gt Arduino Mega 2560 MultiWii Arduino 1 0 4 Fichier Edition Croquis Formatage automatique Archiver le croquis R parer encodage amp recharger Fo rr TTT THEE JERAR CON Pe rr dr dr dr Moniteur s rie Ctrl Maj M Type de carte Port s rie a this file to create l BASIC eee tkis J Graver la s quence d initialisation Programmateur COPTER TYPE SPECIFIC OPTIONS you likely want to ched EC SYSTEM SETUP ALTERNATE CFUs amp BOARDS if you have ALTERNATE SETUP select alternate Rx 56053 PPM etc OPTIONAL FEATURES enable nice to have features here TUNING amp DEVELOPER if you know what you are doing 4 Z 4 4 4 4 4 4 y 1 parameters marked with in the comment are stored iy Changing those values in config h and upload will requ Pc i ce ec ec ec ec
9. T l chargements a gt Biblioth ques b Documents gt E Images b ad Musique b E Vid os p jE Ordinateur b th R seau Fa Mom dl drivers di examples di hardware di jawa d lib p libraries di reference di tools arduino cygiconv 2 dll 3 cygwinl dIl libusbQ dll E revisions 3 mcbxSerial dll libraries Dossier de fichiers Modifi le 08 08 2012 14 06 Modifi le 08 08 2012 14 05 08 08 2012 14 05 08 08 2012 14 05 08 08 2012 14 06 08 08 2012 14 06 08 08 2012 14 06 06 08 2012 14 06 08 08 2012 14 06 21 05 2012 18 05 21 05 2012 18 04 21 05 2012 18 04 21 05 2012 18 04 21 05 2012 18 04 21 05 2012 18 04 Nouveau dossier Type Dossier de fichiers Dossier de fichiers Dossier de fichiers Dossier de fichiers Dossier de fichiers Dossier de fichiers Dossier de fichiers Dossier de fichiers Application Extension de l app Extension de l app Extension de l app Document texte Extension de l app www DrotTek fr Taille 840 Ko 947 Ko 1829 Ko 43 Ko 33 Ko 76 Ko Open rduino program arduino exe for Windows users Open the File menu in the Examples section You must see the MultiWii in the list 2S sketch_mar2ia A Edition Croquis Outils Aide Nouveau Ctrl hy Ouverir Ctrl 0 Carnet de croquis Exemples 01 Basics Fermet Ctrl W 02 Digital Enregistrer Ctrl 5 03 Analog Enregistrer sous Ctrl Maj 5 04 Communication T l verser Ctrl
10. U 05 Control T l verser avec un programmateur Ctrl Majy U 06 Sensors 07 Display DE Strings 09 USE Pr f rences Ctrl Commia 10 StarterKit ArduinalSP Mise en page Ctrl Maj P Imprimer Ctrl F Tr F F0 F0 Si J As F F Quitter Ctrl Q GLED Single Temp EEPROM Esplora Ethernet Firmata GSM LiquidCrystal 4 Arduino Pro or Pro Mlini CE W 1 Click on MultiWii it opens the full project code WARNING BEFORE ANY HANDLING MAKE SURE THE PROPELLERS ARE REMOVED 3 3 Multiwii code setup config h file The MultiWii code is splitted in several files displayed in different tabs in Arduino Each one of them is dedicated to a specific functionality sensors GPS LCD screen etc config h is the parameters file to be edited in order to fit your flying model WARNING Do NOT modify other files unless you re an advanced user Click on the config h tab to enter the code a Number of motors Multicopter models can take numerous different designs and number of motors MultiWii code can handle all the listed types of models www DrotTek fr t a O S O pal A Identify the type of model you need then uncomment the relevant line in the code just remove at the beginning of the line Example for a quadricopter X 2 front motors 2 rear motors 3 MultiWii_dev_20120606 Arduino 1 0 x File Edit Sketch Tools Help MUI ii dev 20720606 Buzzer EEPROM GPS hit LED LED Outpu
11. ce acc Pee cee cD seeeseeeaeeeeeeeee SECTION 1 BASIC SETUP PRR eE ETAT TTT Ge AES Pe ae i Pe cD The type of multicopter deftine GIMBAL 4 Taille binaire du croquia config h PRR T ETERS AAA a PRE Arduino Uno Arduino Duemilanove w ATmegas28 Arduino Diecimila or Duemilanove w ATmegal6s Arduino Nano w ATmega32 Arduino Nano w ATmegal6 Arduino Mega 2560 or Mega ADE Arduino Mega ATmegal 280 Arduino Leonardo Arduino Esplora Arduino Micro Arduino Mini w ATmega328 Arduino Mini w ATmegal6s Arduino Ethernet Arduino Fio Arduino BT w ATmega328 Arduino BT w ATmegal6 LilyPad Arduino USE LilyPad Arduino w ATmega328 LilyPad Arduino w ATmegal 8 Arduino Pro or Pro Mini SV 16 MHz w ATmega328 Arduino Pro or Pro Mini SV 16 MHz w ATmegal Arduino Pro or Pro Mini 3 3V amp MHz w ATmega328 Arduino Pro or Pro Mini 3 3V amp MHz w ATmegal6 Arduino NG or older w ATmegal6 Arduino NG or older w ATmega Arduino blega 2560 or blega ADE on COM109 www DroTek fr The serial port Now connect the flight controller to your PC using a miniUSB USB cable For Windows users on first plug a new device should be automatically detected and installed Oo mer on computer Once the message device successfully installed and ready to use is displayed you can www DroTek fr Formatage automatique Ctrl T aes Archiver le croquis hut i
12. erir Carnet de croquis O1 Basics 02 Digital 03 Analog Exemples Ctrl W Fermer Enregistrer Ctrl S 04 Communication 05 Control Enregistrer sous Ctrl Maj 5 Ctrl U Ctrl Maj U T leverser T l verser avec un programmateur 06 Sensors 07 Display 08 Strings 09 U5B 10 Starterkit ArduinolSP EEPROM Mise en page Ctrl Maj P Imprimer Ctrl P Pr f rences Ctrl Comma Quitter Ctrl Q Esplora Ethernet Firmata i GSM k LiquidCrystal NewSoftSerial b Robot Control b Robot Motor b Arduino Plej In config h uncomment www DroTek fr define LOG PERMANENT 4096 define MWI_SDCARD activation of sdcard functionnality needed for other defines underneath define SDCARD LOGGER Logging of permlog and gps if available define LOG PERMANENT SD ONLY Disable permanent logging on eeprom define LOG_GPS_POSITION 2 Write GPS position to log Parameter is the number of seconds between two logs define LOG PERMANENT 4096 f define LOG PERMANENT SHOW AT STARTUP enable to display log at startup detine deftine detine LOG PERMANENT SHOW AT L zy enable to display log when receiving L LOG PERMANENT SHOW AFTER CONFIG enable to display log after exiting LCD config menu LOG PERMANENT SERVICE LIFETIME 36000 in seconds service alert at startup after 10 hours of armed time E Logging to SDCARD module E define MWI_SDCARD ff activation o
13. f adcard functionnality needed for other defines underneath define SDCARD LOGGER ff Logging of permlog and gps if available define LOG PERMANENT SD ONLY ff Disable permanent logging on eeprom define LOG GPS POSITION 2 72 Write GPS position to log Parameter is the number of seconds between two logs f define CSPIN 45 ff By default 53 on mega boards 10 on others refer to your Hoard specs Upload the code Then you need a soft to process files between SD card and Google Earth The Soft is available here http rcnet com manuels RCNet RCNetDT V091 zip It should be named as KmlConverter Requires Java The Datalogger is activated ONLY when the motors are armed SD card needs to be formated in FAT before use 4 ADDICTIONAL MODULES 4 1 GPS tHMC You can connect a serial GPS module to the serial port 2 of the Drofly Pro V3 With our Ublox GPS Module with his HMC5883 magnetometer you have to uncomment the lines below f detine DROTER_1lODOF F Drotek LODOF with ITG3200 BMAlS0 HHC 5883 BMPOSS w or wro LLC f detine DROTEE 1LODOF HS 2 Drotek LODOF with ITG3200 BMALGO HMCSoes HS5611 LLC ff deftine DROTEK_6D0Fve2 Drotek 6DOF va f define DROTER_6D0F MPU 72 Drotek 6DOF with MPU6050 define DROTEK_1LODOF MPU ff define DROTEK_DROFLY Var f define DROTER_DROFLY Wary Drotek DroFlyPro W30 with MPU6050 and Mase6llba define DROTER_DROFLY V3 GP5 Drotek DroFlyPro V3 with MPU6050 and MS5561BR4 UBLOS GPS and HHC58
14. lexibility can be adjusted into a very stable or very flexible to fit aerial FPV or stunt flying and many different needs Compared to KK or ACM MWC s more stable flight performance flight skills required for novice lower debugging process more intuitive Dedicated MultiWii GUI program can easily observe the PID parameters flight control signal input output status sensor switch state as well as aircraft attitude and heading sensor signal state of each group sufficient for the initial configuration of the aircraft easier MultiWii now supports multiple sensors and IMUs More information available here http www multiwii com Even if using MultiWii is simple even for a beginner it requires a few hardware and software initial tasks This user manual will guide you through the basic steps to get your model flying This section will explain how to edit setup and upload the MultiWii code into your flight controller 1 2 Changes Here are the changes since DroFly Pro V2 DroF ly Pro V2 DroFly Pro V3 HMC5883 SD port size 50mm 50mm Size 58 5mm 50mm Battery level control with solder bridge Buzzer Output www DrotTek fr HARDWARE 2 1 Setup on your frame First you need to identify the front of your flight controller By default the front of the FC is like below IT kd mn nl r ai hj i J A ny i E e 5 ata I i T i Ren H Ap 5 Bs a Serr ee say 5
15. t R PRREERRAATRETE EERE RATER ATER TEER EERE EEA E AAA EAER AAAA EEA AAAA AARE de dr GE ST a Paii iii ii i oe SECTION 1 BASIC SETUP PRR AAAA AAt AA Faia a a e i a e a ce i ec ec ic cc ec ac cD Pi RR RE AE Er EG EE The type of multicopter FERRER EE f define GIMBAL f define BI ff define TRI f detine QUADP define QUADX f define Y4 ff define Y6 f detine HEX6 ff define HEXEX ff define OCTOXS define OCTOFLATP define OCTOFLATX ff define FLYING WING ff define VIAIL4 f define AIRPLANE ff Howto setup gt gt gt PPRRRRRARRE TEER EERE ERE ARERR EERE EERE ERE E EE EEE EERE EAE f Heli is beta test 2 Howto setup gt 3 gt ff detine HELI 120 CCPH gt z PatrikE Experimental oe M sl e de er m THT T ao TT d d Ti de 2 Te Te Tt ee ee ee de l FAT Arduino Pro or Pro blini SY 16 MHz w ATmegasz8 on COMMA b Flight Controller Selection Now you need to select the type of flight controller you are using Uncomment the define DROTEK DROFLY V3 line f define DROTEE 10D0F ff Deotek lLODOF with ITG3200 BHA1S0 HH1C5883 EHFOSS w or w o LLC sideline DROTER_LODOF HS 77 Drotek LODOF with ITG3200 BMALSO HHC5883 HS5611 LLC f deftine DEOTEE 6D0Fv2 72 Drotek DOF ve define DROTER_6D0F MPU Drotek 6DOF with MPU6OS0 f detine DROTER_LODOF MPU f define DROTEER DROFLY Ve define DROTEK DROFLY Y3 7 Drotek DroFlyPro V3 with MPU6050 and MS5611Ba detine DROTER DROFLY Va_
16. ultiWii code can handle various types of flying models with different number of motors and servos Please refer to section 3 3 b to identify which type of model you re flying then connect ESCs accordingly to the flight controller DEFAULT CONFIGURATION 7 oe S JK AP 2 3 Enable LiPo You can select your own level battery on the board with these solder bridges You will connect the center and the side you want The objective is control the battery level and warn you when it is too low S3 54 SS 6 For select 53 solder as below s3 S4 ma SS 6 You need to modify these lines you can find them in config h define VYEAT uncomment this line to activate the vhat code define VYEATSCALE 131 27 FF FF change this value if readed Battery voltage is different than real voltage define VEATNOMINAL 126 define VEATLEVEL WARN1 107 define VEATLEVEL VARNA 99 define VEBATLEVEL CRIT 93 define HO VBAT 16 Fr ef ff if if 12 67 full battery nominal voltage only used for led telemetry CF FF 10 77 aay EL ER 9 3V critical condition if vhat ever goes below this value permanent alarm if triggered Avoid beeping without any battery www DrotTek fr SOFTWARE SETUP ARDUINO OO 3 1 Getting started with Arduino software This section will explain how to setup Arduino software on your computer in
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